Drift term compensating control for off-equilibrium operation of nonlinear systems with Takagi-Sugeno fuzzy models

Linear controller design can be carried out for nonlinear systems e. g. by using Takagi-Sugeno fuzzy models. With such an approximative design via linearization in several approximation points, when designing a controller in a transient region, drift terms occur. These are frequently neglected during controller design. An approach for approximative compensation of these drift terms by the control law is proposed in this work which leads to a locally linear/affine parallel distributed controller design. The novel method is demonstrated on the benchmark problem of an inverted pendulum.